Sitting and standing training method and system of lower limb rehabilitation robot

Abstract

The invention discloses a sitting and standing training method and system of a lower limb rehabilitation robot, and relates to the technical field of rehabilitation medical treatment. The method comprises the following steps of: when following sitting and standing training is begun, according to a weight loss value and the speed of the following sitting and standing training, determining the indication movement direction of the lower limb rehabilitation robot; according to torque information which is obtained in real time, is collected by a torque sensor and is between the pelvis of a patientand the lower limb rehabilitation robot, determining the intentional movement direction of the patient; comparing the indication movement direction and the intentional movement direction, and if the indication movement direction and the intentional movement direction are inconsistent, stopping the movement of the patient according to the original intentional movement direction; and meanwhile, whenthe patient carries out the following sitting and standing training, according to pressure information, enabling the lower limb rehabilitation robot to move front and back. By use of the method, according to different rehabilitation periods of the patient, different weight loss values are applied so as to meet the early dynamic weight loss assistance of the patient, the intentional movement direction of the patient can be regulated according to the indication movement direction of the lower limb rehabilitation robot to protect the patient from secondary injuries during a rehabilitation training period, and rehabilitation training efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medicine, in particular to a sit-stand training method and system for a lower limb rehabilitation robot. Background technique [0002] With the increasing aging society, more and more elderly people have lost the function of independent standing of lower limbs due to stroke, cardiovascular disease and other reasons, which brings great inconvenience to daily life and seriously reduces the quality of life. [0003] At present, the traditional sit-stand functional training is often carried out through ordinary square stools, ordinary chairs or ordinary physical therapy beds. These tools lack the function of height adjustment, and lack suitable armrests, and at the same time cannot give certain auxiliary weight loss to early patients Therefore, the purpose of changing the difficulty of training by adjusting the seat height, armrest and weight reduction force cannot be achieved. Although the li...

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Problems solved by technology

[0002] With the increasing aging society, more and more elderly people have lost the independent standing function of their lower limbs due to stroke, cardiovascular disease and other reasons, which brings great inconvenience to daily life and seriously reduces the quality of life.

[0003] At present, the traditional sit-stand functional training is often carried out through ordinary square stools, ordinary chairs or ordinary physical therapy beds. These tools lack the function of height adjustment, and lack suitable armrests, and cannot give certain auxiliary weight loss to early patients. support, so it is impossible to change the difficulty of training by adjusting seat height, armrests and weight reduction

Although the lift seats on the existing market can adjust the height of the seat seat, they cannot realize dynamic weight loss auxiliary training, and it is very inconvenient

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